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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="classpcl_1_1_range_image_spherical-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::RangeImageSpherical类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1_range_image_spherical.html" title="RangeImageSpherical is derived from the original range image and uses a slightly different spherical ...">RangeImageSpherical</a></b> is derived from the original range image and uses a slightly different spherical projection. In the original range image, the image will appear more and more "scaled down" along the y axis, the further away from the mean line of the image a point is. This class removes this scaling, which makes it especially suitable for spinning LIDAR sensors that capure a 360° view, since a rotation of the sensor will now simply correspond to a shift of the range image. (This class is similar to <a class="el" href="classpcl_1_1_range_image_planar.html" title="RangeImagePlanar is derived from the original range image and differs from it because it&#39;s not a sphe...">RangeImagePlanar</a>, but changes less of the behaviour of the base class.)  
 <a href="classpcl_1_1_range_image_spherical.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="range__image__spherical_8h_source.html">range_image_spherical.h</a>&gt;</code></p>
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类 pcl::RangeImageSpherical 继承关系图:</div>
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  <img src="classpcl_1_1_range_image_spherical.png" usemap="#pcl::RangeImageSpherical_map" alt=""/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a3ce808568532af26eb6b1f86a3644ecf"><td class="memItemLeft" align="right" valign="top"><a id="a3ce808568532af26eb6b1f86a3644ecf"></a>
typedef <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a>&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_range_image_spherical.html">RangeImageSpherical</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_range_image_spherical.html">RangeImageSpherical</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VectorOfEigenVector3f</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointType</b></td></tr>
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typedef std::vector&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VectorType</b></td></tr>
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typedef std::vector&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt;, Eigen::aligned_allocator&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudVectorType</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&#160;</td><td class="memItemRight" valign="bottom"><b>value_type</b></td></tr>
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typedef <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>reference</b></td></tr>
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typedef const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>const_reference</b></td></tr>
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typedef VectorType::difference_type&#160;</td><td class="memItemRight" valign="bottom"><b>difference_type</b></td></tr>
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typedef VectorType::size_type&#160;</td><td class="memItemRight" valign="bottom"><b>size_type</b></td></tr>
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typedef VectorType::iterator&#160;</td><td class="memItemRight" valign="bottom"><b>iterator</b></td></tr>
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typedef VectorType::const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>const_iterator</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a32a31d2c4fa79e912291c10b45a3709a"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a32a31d2c4fa79e912291c10b45a3709a">RangeImageSpherical</a> ()</td></tr>
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<tr class="memitem:afc4656463f4b4912ef46c1e15a9fb33a"><td class="memItemLeft" align="right" valign="top">virtual PCL_EXPORTS&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#afc4656463f4b4912ef46c1e15a9fb33a">~RangeImageSpherical</a> ()</td></tr>
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<tr class="memitem:acb6dc5877e1e91d773392a346778b0bc"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#acb6dc5877e1e91d773392a346778b0bc">getNew</a> () const</td></tr>
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<tr class="memitem:a4247e65f23cbe77a85521a608fac2a38"><td class="memItemLeft" align="right" valign="top"><a id="a4247e65f23cbe77a85521a608fac2a38"></a>
Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a4247e65f23cbe77a85521a608fac2a38">makeShared</a> ()</td></tr>
<tr class="memdesc:a4247e65f23cbe77a85521a608fac2a38"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a boost shared pointer of a copy of this <br /></td></tr>
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<tr class="memitem:a43849e7a155b8af09e0355fe77e65266"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a43849e7a155b8af09e0355fe77e65266">calculate3DPoint</a> (float image_x, float image_y, float range, Eigen::Vector3f &amp;point) const</td></tr>
<tr class="memdesc:a43849e7a155b8af09e0355fe77e65266"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the 3D point according to the given image point and range  <a href="classpcl_1_1_range_image_spherical.html#a43849e7a155b8af09e0355fe77e65266">更多...</a><br /></td></tr>
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<tr class="memitem:ac3d6279042ea8f5da9ea0efd8221a749"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#ac3d6279042ea8f5da9ea0efd8221a749">getImagePoint</a> (const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</td></tr>
<tr class="memdesc:ac3d6279042ea8f5da9ea0efd8221a749"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the image point and range from the given 3D point  <a href="classpcl_1_1_range_image_spherical.html#ac3d6279042ea8f5da9ea0efd8221a749">更多...</a><br /></td></tr>
<tr class="separator:ac3d6279042ea8f5da9ea0efd8221a749"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8a953ca67cee7446f2a854d39c6188c7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a8a953ca67cee7446f2a854d39c6188c7">getAnglesFromImagePoint</a> (float image_x, float image_y, float &amp;angle_x, float &amp;angle_y) const</td></tr>
<tr class="separator:a8a953ca67cee7446f2a854d39c6188c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1e4c832e4c11c25a57b0e3d8aae2a5e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#aa1e4c832e4c11c25a57b0e3d8aae2a5e">getImagePointFromAngles</a> (float angle_x, float angle_y, float &amp;image_x, float &amp;image_y) const</td></tr>
<tr class="separator:aa1e4c832e4c11c25a57b0e3d8aae2a5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1acc16b4b5fb7071175bada62a5b75d0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (float image_x, float image_y, float range, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point) const</td></tr>
<tr class="separator:a1acc16b4b5fb7071175bada62a5b75d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0f969bd0149b7848f0f26b44bb88035c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a0f969bd0149b7848f0f26b44bb88035c">calculate3DPoint</a> (float image_x, float image_y, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point) const</td></tr>
<tr class="separator:a0f969bd0149b7848f0f26b44bb88035c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa9e97e7487ac21a77075b5f8b64ca205"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#aa9e97e7487ac21a77075b5f8b64ca205">calculate3DPoint</a> (float image_x, float image_y, float range, Eigen::Vector3f &amp;point) const</td></tr>
<tr class="separator:aa9e97e7487ac21a77075b5f8b64ca205"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abbb77866cf4ee5d2a619f4f8cc62cc9b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#abbb77866cf4ee5d2a619f4f8cc62cc9b">calculate3DPoint</a> (float image_x, float image_y, Eigen::Vector3f &amp;point) const</td></tr>
<tr class="separator:abbb77866cf4ee5d2a619f4f8cc62cc9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a53bfc9f4a3365ee8e62513ae37eb5c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</td></tr>
<tr class="separator:a7a53bfc9f4a3365ee8e62513ae37eb5c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9295b795c8f52a90eb3af983612fea8a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a9295b795c8f52a90eb3af983612fea8a">getImagePoint</a> (const Eigen::Vector3f &amp;point, int &amp;image_x, int &amp;image_y, float &amp;range) const</td></tr>
<tr class="separator:a9295b795c8f52a90eb3af983612fea8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b9b678a491ddefc1109494157e0aa83"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a8b9b678a491ddefc1109494157e0aa83">getImagePoint</a> (const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y) const</td></tr>
<tr class="separator:a8b9b678a491ddefc1109494157e0aa83"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac7ef90b9c78876a492fd16701d6578e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#aac7ef90b9c78876a492fd16701d6578e">getImagePoint</a> (const Eigen::Vector3f &amp;point, int &amp;image_x, int &amp;image_y) const</td></tr>
<tr class="separator:aac7ef90b9c78876a492fd16701d6578e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09c81c4b4ffd68fc5742167d15f6af87"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a09c81c4b4ffd68fc5742167d15f6af87">getImagePoint</a> (float x, float y, float z, float &amp;image_x, float &amp;image_y, float &amp;range) const</td></tr>
<tr class="separator:a09c81c4b4ffd68fc5742167d15f6af87"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8123412373a87d5030ee5f8a9b3ba3e4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a8123412373a87d5030ee5f8a9b3ba3e4">getImagePoint</a> (float x, float y, float z, float &amp;image_x, float &amp;image_y) const</td></tr>
<tr class="separator:a8123412373a87d5030ee5f8a9b3ba3e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ba0bfce9adcf8161feec7c59f75082c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_spherical.html#a2ba0bfce9adcf8161feec7c59f75082c">getImagePoint</a> (float x, float y, float z, int &amp;image_x, int &amp;image_y) const</td></tr>
<tr class="separator:a2ba0bfce9adcf8161feec7c59f75082c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_range_image"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_range_image')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_range_image.html">pcl::RangeImage</a></td></tr>
<tr class="memitem:af18b2d3410fb7799ad4de375b51df035 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#af18b2d3410fb7799ad4de375b51df035">RangeImage</a> ()</td></tr>
<tr class="separator:af18b2d3410fb7799ad4de375b51df035 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a274fcd95e5f7c8da5f4f5ecf151bad40 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">virtual PCL_EXPORTS&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a274fcd95e5f7c8da5f4f5ecf151bad40">~RangeImage</a> ()</td></tr>
<tr class="separator:a274fcd95e5f7c8da5f4f5ecf151bad40 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f898747aa6a52e484d65babc2600a23 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a7f898747aa6a52e484d65babc2600a23"></a>
Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a7f898747aa6a52e484d65babc2600a23">makeShared</a> ()</td></tr>
<tr class="memdesc:a7f898747aa6a52e484d65babc2600a23 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a boost shared pointer of a copy of this <br /></td></tr>
<tr class="separator:a7f898747aa6a52e484d65babc2600a23 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd539d95dd7bbbd1d67db12e9be275b0 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="acd539d95dd7bbbd1d67db12e9be275b0"></a>
PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#acd539d95dd7bbbd1d67db12e9be275b0">reset</a> ()</td></tr>
<tr class="memdesc:acd539d95dd7bbbd1d67db12e9be275b0 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset all values to an empty range image <br /></td></tr>
<tr class="separator:acd539d95dd7bbbd1d67db12e9be275b0 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82f6a143de2d73a0ad9fea6c527a2efb inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:a82f6a143de2d73a0ad9fea6c527a2efb inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">createFromPointCloud</a> (const PointCloudType &amp;point_cloud, float angular_resolution=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:a82f6a143de2d73a0ad9fea6c527a2efb inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud  <a href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">更多...</a><br /></td></tr>
<tr class="separator:a82f6a143de2d73a0ad9fea6c527a2efb inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3a8a2def6dde7446b9fc456f7992aa9 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:ae3a8a2def6dde7446b9fc456f7992aa9 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ae3a8a2def6dde7446b9fc456f7992aa9">createFromPointCloud</a> (const PointCloudType &amp;point_cloud, float angular_resolution_x=pcl::deg2rad(0.5f), float angular_resolution_y=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:ae3a8a2def6dde7446b9fc456f7992aa9 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud  <a href="classpcl_1_1_range_image.html#ae3a8a2def6dde7446b9fc456f7992aa9">更多...</a><br /></td></tr>
<tr class="separator:ae3a8a2def6dde7446b9fc456f7992aa9 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afbb553405d9b1df2b10b08c98c052250 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:afbb553405d9b1df2b10b08c98c052250 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">createFromPointCloudWithKnownSize</a> (const PointCloudType &amp;point_cloud, float angular_resolution, const Eigen::Vector3f &amp;point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:afbb553405d9b1df2b10b08c98c052250 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.  <a href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">更多...</a><br /></td></tr>
<tr class="separator:afbb553405d9b1df2b10b08c98c052250 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac52b84843090cf756a37c596b5e772d2 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:ac52b84843090cf756a37c596b5e772d2 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ac52b84843090cf756a37c596b5e772d2">createFromPointCloudWithKnownSize</a> (const PointCloudType &amp;point_cloud, float angular_resolution_x, float angular_resolution_y, const Eigen::Vector3f &amp;point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:ac52b84843090cf756a37c596b5e772d2 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.  <a href="classpcl_1_1_range_image.html#ac52b84843090cf756a37c596b5e772d2">更多...</a><br /></td></tr>
<tr class="separator:ac52b84843090cf756a37c596b5e772d2 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a91cb7406e0e57923a7f5d533ea578c0f inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudTypeWithViewpoints &gt; </td></tr>
<tr class="memitem:a91cb7406e0e57923a7f5d533ea578c0f inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">createFromPointCloudWithViewpoints</a> (const PointCloudTypeWithViewpoints &amp;point_cloud, float angular_resolution, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:a91cb7406e0e57923a7f5d533ea578c0f inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).  <a href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">更多...</a><br /></td></tr>
<tr class="separator:a91cb7406e0e57923a7f5d533ea578c0f inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a66de72c9511e694d41bd7a48c043f541 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudTypeWithViewpoints &gt; </td></tr>
<tr class="memitem:a66de72c9511e694d41bd7a48c043f541 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a66de72c9511e694d41bd7a48c043f541">createFromPointCloudWithViewpoints</a> (const PointCloudTypeWithViewpoints &amp;point_cloud, float angular_resolution_x, float angular_resolution_y, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:a66de72c9511e694d41bd7a48c043f541 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).  <a href="classpcl_1_1_range_image.html#a66de72c9511e694d41bd7a48c043f541">更多...</a><br /></td></tr>
<tr class="separator:a66de72c9511e694d41bd7a48c043f541 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a46cb318d3d6f1cf6aace8d2ed10ed7fa inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a46cb318d3d6f1cf6aace8d2ed10ed7fa">createEmpty</a> (float angular_resolution, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))</td></tr>
<tr class="memdesc:a46cb318d3d6f1cf6aace8d2ed10ed7fa inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create an empty depth image (filled with unobserved points)  <a href="classpcl_1_1_range_image.html#a46cb318d3d6f1cf6aace8d2ed10ed7fa">更多...</a><br /></td></tr>
<tr class="separator:a46cb318d3d6f1cf6aace8d2ed10ed7fa inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afa9ecf76f97e99ede5b71bb7da6c1715 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#afa9ecf76f97e99ede5b71bb7da6c1715">createEmpty</a> (float angular_resolution_x, float angular_resolution_y, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))</td></tr>
<tr class="memdesc:afa9ecf76f97e99ede5b71bb7da6c1715 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create an empty depth image (filled with unobserved points)  <a href="classpcl_1_1_range_image.html#afa9ecf76f97e99ede5b71bb7da6c1715">更多...</a><br /></td></tr>
<tr class="separator:afa9ecf76f97e99ede5b71bb7da6c1715 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56655a55b4c83c7ce301ca0f020759b4 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:a56655a55b4c83c7ce301ca0f020759b4 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">doZBuffer</a> (const PointCloudType &amp;point_cloud, float noise_level, float min_range, int &amp;top, int &amp;right, int &amp;bottom, int &amp;left)</td></tr>
<tr class="memdesc:a56655a55b4c83c7ce301ca0f020759b4 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Integrate the given point cloud into the current range image using a z-buffer  <a href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">更多...</a><br /></td></tr>
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<tr class="memitem:a6c3ceb66679ccc84587eef5c29a16386 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2"><a id="a6c3ceb66679ccc84587eef5c29a16386"></a>
template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:a6c3ceb66679ccc84587eef5c29a16386 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6c3ceb66679ccc84587eef5c29a16386">integrateFarRanges</a> (const PointCloudType &amp;far_ranges)</td></tr>
<tr class="memdesc:a6c3ceb66679ccc84587eef5c29a16386 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Integrates the given far range measurements into the range image <br /></td></tr>
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<tr class="memitem:a20f223d93080e9ce32122f90a265f7c4 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a20f223d93080e9ce32122f90a265f7c4">cropImage</a> (int border_size=0, int top=-1, int right=-1, int bottom=-1, int left=-1)</td></tr>
<tr class="memdesc:a20f223d93080e9ce32122f90a265f7c4 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Cut the range image to the minimal size so that it still contains all actual range readings.  <a href="classpcl_1_1_range_image.html#a20f223d93080e9ce32122f90a265f7c4">更多...</a><br /></td></tr>
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<tr class="memitem:ab124a58f66b1d9a5d0f433c8474ef2b4 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ab124a58f66b1d9a5d0f433c8474ef2b4">getRangesArray</a> () const</td></tr>
<tr class="memdesc:ab124a58f66b1d9a5d0f433c8474ef2b4 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get all the range values in one float array of size width*height <br  />
  <a href="classpcl_1_1_range_image.html#ab124a58f66b1d9a5d0f433c8474ef2b4">更多...</a><br /></td></tr>
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<tr class="memitem:ac503c8e060a6f6b1cae1c1fa87fa6e33 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const Eigen::Affine3f &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ac503c8e060a6f6b1cae1c1fa87fa6e33">getTransformationToRangeImageSystem</a> () const</td></tr>
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<tr class="memitem:ab0419b66dd9e76fbc6d568049abfad3c inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ab0419b66dd9e76fbc6d568049abfad3c">setTransformationToRangeImageSystem</a> (const Eigen::Affine3f &amp;to_range_image_system)</td></tr>
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<tr class="memitem:afdff6ffbb3bfec294637225b5fb82956 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const Eigen::Affine3f &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#afdff6ffbb3bfec294637225b5fb82956">getTransformationToWorldSystem</a> () const</td></tr>
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<tr class="memitem:a6fc3548b0b33e90cead2c1ecfce14c34 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6fc3548b0b33e90cead2c1ecfce14c34">getAngularResolution</a> () const</td></tr>
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<tr class="memitem:a6522dbfac4997c15bd24b0b9b3e9d4dd inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6522dbfac4997c15bd24b0b9b3e9d4dd">getAngularResolutionX</a> () const</td></tr>
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<tr class="memitem:af4891c9812652efe513b9ff060490364 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#af4891c9812652efe513b9ff060490364">getAngularResolutionY</a> () const</td></tr>
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<tr class="memitem:a41c0b0f74510988357a56fdc48d18f93 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a41c0b0f74510988357a56fdc48d18f93">getAngularResolution</a> (float &amp;angular_resolution_x, float &amp;angular_resolution_y) const</td></tr>
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<tr class="memitem:a2720450161caef9a2992b0ac943ab2b7 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">setAngularResolution</a> (float angular_resolution)</td></tr>
<tr class="memdesc:a2720450161caef9a2992b0ac943ab2b7 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the angular resolution of the range image  <a href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">更多...</a><br /></td></tr>
<tr class="separator:a2720450161caef9a2992b0ac943ab2b7 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74583440e4ef4b611b7d2b638c6da28e inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a74583440e4ef4b611b7d2b638c6da28e">setAngularResolution</a> (float angular_resolution_x, float angular_resolution_y)</td></tr>
<tr class="memdesc:a74583440e4ef4b611b7d2b638c6da28e inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the angular resolution of the range image  <a href="classpcl_1_1_range_image.html#a74583440e4ef4b611b7d2b638c6da28e">更多...</a><br /></td></tr>
<tr class="separator:a74583440e4ef4b611b7d2b638c6da28e inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a52164736793c99cc9fc48dedee615e45 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (int image_x, int image_y) const</td></tr>
<tr class="memdesc:a52164736793c99cc9fc48dedee615e45 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the 3D point with range at the given image position  <a href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">更多...</a><br /></td></tr>
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<tr class="memitem:adb229f49ccf885517e905373372b00be inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="adb229f49ccf885517e905373372b00be"></a>
<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#adb229f49ccf885517e905373372b00be">getPoint</a> (int image_x, int image_y)</td></tr>
<tr class="memdesc:adb229f49ccf885517e905373372b00be inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Non-const-version of getPoint <br /></td></tr>
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<tr class="memitem:a0168934416e10ded1eb34d57123b8d37 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a0168934416e10ded1eb34d57123b8d37">getPoint</a> (float image_x, float image_y) const</td></tr>
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<tr class="memitem:aa403d6ee9c3d76a50b268204acab27ff inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aa403d6ee9c3d76a50b268204acab27ff">getPoint</a> (float image_x, float image_y)</td></tr>
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<tr class="memitem:a587663a5b4123f4c423c9e38a9b36d41 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">getPointNoCheck</a> (int image_x, int image_y) const</td></tr>
<tr class="memdesc:a587663a5b4123f4c423c9e38a9b36d41 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the 3D point with range at the given image position. This methd performs no error checking to make sure the specified image position is inside of the image!  <a href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">更多...</a><br /></td></tr>
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<tr class="memitem:a45bfd00007940d0043b8f1df43663d07 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a45bfd00007940d0043b8f1df43663d07">getPointNoCheck</a> (int image_x, int image_y)</td></tr>
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<tr class="memitem:a35a8dbb8cc328029a928b3cff4225d5b inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a35a8dbb8cc328029a928b3cff4225d5b">getPoint</a> (int image_x, int image_y, Eigen::Vector3f &amp;point) const</td></tr>
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<tr class="memitem:aa7e520479cc8f66e5ddd7f594649b25f inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aa7e520479cc8f66e5ddd7f594649b25f">getPoint</a> (int index, Eigen::Vector3f &amp;point) const</td></tr>
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<tr class="memitem:a63716da3dad788cd23b64e9dc67b1791 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::Vector3f &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a63716da3dad788cd23b64e9dc67b1791">getEigenVector3f</a> (int x, int y) const</td></tr>
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<tr class="memitem:aab3ee4df50d138b9f9b4ba34306c1071 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::Vector3f &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aab3ee4df50d138b9f9b4ba34306c1071">getEigenVector3f</a> (int index) const</td></tr>
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<tr class="memitem:a467a03da34e4ffd323ae0f080ac85570 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a467a03da34e4ffd323ae0f080ac85570">getPoint</a> (int index) const</td></tr>
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<tr class="memitem:a1acc16b4b5fb7071175bada62a5b75d0 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (float image_x, float image_y, float range, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point) const</td></tr>
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<tr class="memitem:a0f969bd0149b7848f0f26b44bb88035c inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a0f969bd0149b7848f0f26b44bb88035c">calculate3DPoint</a> (float image_x, float image_y, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point) const</td></tr>
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<tr class="memitem:abbb77866cf4ee5d2a619f4f8cc62cc9b inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#abbb77866cf4ee5d2a619f4f8cc62cc9b">calculate3DPoint</a> (float image_x, float image_y, Eigen::Vector3f &amp;point) const</td></tr>
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<tr class="memitem:a08d6ccfef80c3788102327df618a3fbf inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a08d6ccfef80c3788102327df618a3fbf">recalculate3DPointPositions</a> ()</td></tr>
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<tr class="memitem:a9295b795c8f52a90eb3af983612fea8a inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a9295b795c8f52a90eb3af983612fea8a">getImagePoint</a> (const Eigen::Vector3f &amp;point, int &amp;image_x, int &amp;image_y, float &amp;range) const</td></tr>
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<tr class="memitem:a8b9b678a491ddefc1109494157e0aa83 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a8b9b678a491ddefc1109494157e0aa83">getImagePoint</a> (const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y) const</td></tr>
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<tr class="memitem:aac7ef90b9c78876a492fd16701d6578e inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aac7ef90b9c78876a492fd16701d6578e">getImagePoint</a> (const Eigen::Vector3f &amp;point, int &amp;image_x, int &amp;image_y) const</td></tr>
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<tr class="memitem:a09c81c4b4ffd68fc5742167d15f6af87 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a09c81c4b4ffd68fc5742167d15f6af87">getImagePoint</a> (float x, float y, float z, float &amp;image_x, float &amp;image_y, float &amp;range) const</td></tr>
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<tr class="memitem:a8123412373a87d5030ee5f8a9b3ba3e4 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a8123412373a87d5030ee5f8a9b3ba3e4">getImagePoint</a> (float x, float y, float z, float &amp;image_x, float &amp;image_y) const</td></tr>
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<tr class="memitem:a2ba0bfce9adcf8161feec7c59f75082c inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2ba0bfce9adcf8161feec7c59f75082c">getImagePoint</a> (float x, float y, float z, int &amp;image_x, int &amp;image_y) const</td></tr>
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<tr class="memitem:a3e63aa0e7dc143f4a4a15611edcede70 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a3e63aa0e7dc143f4a4a15611edcede70">checkPoint</a> (const Eigen::Vector3f &amp;point, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point_in_image) const</td></tr>
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<tr class="memitem:aea43fc18a9695437879d4b3b3860a9ae inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aea43fc18a9695437879d4b3b3860a9ae">getRangeDifference</a> (const Eigen::Vector3f &amp;point) const</td></tr>
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<tr class="memitem:adfd931443541e194f1c53d5f7b1c43e6 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#adfd931443541e194f1c53d5f7b1c43e6">getImagePointFromAngles</a> (float angle_x, float angle_y, float &amp;image_x, float &amp;image_y) const</td></tr>
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<tr class="memitem:a2388ab60ff312e9034df5e67f899ea97 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2388ab60ff312e9034df5e67f899ea97">getAnglesFromImagePoint</a> (float image_x, float image_y, float &amp;angle_x, float &amp;angle_y) const</td></tr>
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<tr class="memitem:a86174b766aa77898e0d49ef11f4613b1 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (float x, float y, int &amp;xInt, int &amp;yInt) const</td></tr>
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<tr class="memitem:a824a6bb27b43a174da775a656b81a483 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (int x, int y) const</td></tr>
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<tr class="memitem:a2372989721c3c119bb5d4b5ebd9b59c3 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (int x, int y) const</td></tr>
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<tr class="memitem:ad353c062c9b17adda3797bf970b9934b inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ad353c062c9b17adda3797bf970b9934b">isValid</a> (int index) const</td></tr>
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<tr class="memitem:a75e51885e151759d815ec1b1b72ea4ff inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">isObserved</a> (int x, int y) const</td></tr>
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<tr class="memitem:a771ab2f1ee2952a319da20301b27ab3b inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">isMaxRange</a> (int x, int y) const</td></tr>
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<tr class="memitem:aeb21e9a192704802adabd6693f00e397 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aeb21e9a192704802adabd6693f00e397">getNormal</a> (int x, int y, int radius, Eigen::Vector3f &amp;normal, int step_size=1) const</td></tr>
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<tr class="memitem:accb0781e43e55cff62851019ffac47ce inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">getNormalForClosestNeighbors</a> (int x, int y, int radius, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point, int no_of_nearest_neighbors, Eigen::Vector3f &amp;normal, int step_size=1) const</td></tr>
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<tr class="memitem:a2de7a8f331c28ac81440ba74e56369bc inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2de7a8f331c28ac81440ba74e56369bc">getNormalForClosestNeighbors</a> (int x, int y, int radius, const Eigen::Vector3f &amp;point, int no_of_nearest_neighbors, Eigen::Vector3f &amp;normal, Eigen::Vector3f *point_on_plane=NULL, int step_size=1) const</td></tr>
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<tr class="memitem:a5cb82433197f15970647793c6271fe9a inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a5cb82433197f15970647793c6271fe9a">getNormalForClosestNeighbors</a> (int x, int y, Eigen::Vector3f &amp;normal, int radius=2) const</td></tr>
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<tr class="memitem:abf1ce91a6aae13aefb5d3026273eb108 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#abf1ce91a6aae13aefb5d3026273eb108">getSurfaceInformation</a> (int x, int y, int radius, const Eigen::Vector3f &amp;point, int no_of_closest_neighbors, int step_size, float &amp;max_closest_neighbor_distance_squared, Eigen::Vector3f &amp;normal, Eigen::Vector3f &amp;mean, Eigen::Vector3f &amp;eigen_values, Eigen::Vector3f *normal_all_neighbors=NULL, Eigen::Vector3f *mean_all_neighbors=NULL, Eigen::Vector3f *eigen_values_all_neighbors=NULL) const</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>getSquaredDistanceOfNthNeighbor</b> (int x, int y, int radius, int n, int step_size) const</td></tr>
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<tr class="memitem:a6b87fa04fd32ec986f1af9149bd46841 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">getImpactAngle</a> (const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point1, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point2) const</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aa6210710d430006d4c4ca93b6f8023da">getImpactAngle</a> (int x1, int y1, int x2, int y2) const</td></tr>
<tr class="memdesc:aa6210710d430006d4c4ca93b6f8023da inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above <br /></td></tr>
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<tr class="memitem:a1ca716a0e6b2aba846bdb4079275f6d9 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a1ca716a0e6b2aba846bdb4079275f6d9">getImpactAngleBasedOnLocalNormal</a> (int x, int y, int radius) const</td></tr>
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<tr class="memitem:aecd52c29445543d03e40f0d75c8120c0 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aecd52c29445543d03e40f0d75c8120c0">getImpactAngleImageBasedOnLocalNormals</a> (int radius) const</td></tr>
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<tr class="memitem:a5b6d4bb74fa5134a6c21823dfdcdb13e inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a5b6d4bb74fa5134a6c21823dfdcdb13e">getNormalBasedAcutenessValue</a> (int x, int y, int radius) const</td></tr>
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<tr class="memitem:a2290765b8ccd5608ffa4967dc282395a inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2290765b8ccd5608ffa4967dc282395a">getAcutenessValue</a> (const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point1, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point2) const</td></tr>
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<tr class="memitem:a428803af781c88a43cf0c9b251d081bf inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a428803af781c88a43cf0c9b251d081bf"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a428803af781c88a43cf0c9b251d081bf">getAcutenessValue</a> (int x1, int y1, int x2, int y2) const</td></tr>
<tr class="memdesc:a428803af781c88a43cf0c9b251d081bf inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above <br /></td></tr>
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<tr class="memitem:a56821ed68e8701450b4725ed9c6fd7a0 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a56821ed68e8701450b4725ed9c6fd7a0">getAcutenessValueImages</a> (int pixel_distance, float *&amp;acuteness_value_image_x, float *&amp;acuteness_value_image_y) const</td></tr>
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<tr class="memitem:a16b744103dab2ba2a9ada137aa75887f inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a16b744103dab2ba2a9ada137aa75887f">getSurfaceChange</a> (int x, int y, int radius) const</td></tr>
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<tr class="memitem:a23b27f51c94a493a2c98c96a6acf3f11 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a23b27f51c94a493a2c98c96a6acf3f11">getSurfaceChangeImage</a> (int radius) const</td></tr>
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<tr class="memitem:afd94afe865f6cd46cfbc64f45bb1d03e inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#afd94afe865f6cd46cfbc64f45bb1d03e">getSurfaceAngleChange</a> (int x, int y, int radius, float &amp;angle_change_x, float &amp;angle_change_y) const</td></tr>
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<tr class="memitem:a0501e4697fe05327423b4e247baa3528 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a0501e4697fe05327423b4e247baa3528">getSurfaceAngleChangeImages</a> (int radius, float *&amp;angle_change_image_x, float *&amp;angle_change_image_y) const</td></tr>
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<tr class="memitem:ac6a22e10be8bfcedf9297d1e1badef1c inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ac6a22e10be8bfcedf9297d1e1badef1c">getCurvature</a> (int x, int y, int radius, int step_size) const</td></tr>
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<tr class="memitem:a942d6b253c5df68008614af6dfed323a inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a942d6b253c5df68008614af6dfed323a"></a>
const Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a> () const</td></tr>
<tr class="memdesc:a942d6b253c5df68008614af6dfed323a inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the sensor position <br /></td></tr>
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<tr class="memitem:ad4f7d854c4f15ab0ab2193cc726c353f inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ad4f7d854c4f15ab0ab2193cc726c353f">setUnseenToMaxRange</a> ()</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a25e2db660717d67a19f5cdb39937c00a">getImageOffsetX</a> () const</td></tr>
<tr class="memdesc:a25e2db660717d67a19f5cdb39937c00a inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for image_offset_x_ <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a42c06aa5693077ab6db7ec5c691dc677">getImageOffsetY</a> () const</td></tr>
<tr class="memdesc:a42c06aa5693077ab6db7ec5c691dc677 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for image_offset_y_ <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a962a922e6a1170b1494ee21859087b4e">setImageOffsets</a> (int offset_x, int offset_y)</td></tr>
<tr class="memdesc:a962a922e6a1170b1494ee21859087b4e inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for image offsets <br /></td></tr>
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<tr class="memitem:a33f4985713cf3f17ac8f8c69c0201729 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a33f4985713cf3f17ac8f8c69c0201729">getSubImage</a> (int sub_image_image_offset_x, int sub_image_image_offset_y, int sub_image_width, int sub_image_height, int combine_pixels, <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;sub_image) const</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ab39a4eac61ba75bb9f2913a1ff3ec84d">getHalfImage</a> (<a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;half_image) const</td></tr>
<tr class="memdesc:ab39a4eac61ba75bb9f2913a1ff3ec84d inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a range image with half the resolution <br /></td></tr>
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<tr class="memitem:a83b475eb983cd9edaea5d97c6d098a7c inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a83b475eb983cd9edaea5d97c6d098a7c"></a>
PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a83b475eb983cd9edaea5d97c6d098a7c">getMinMaxRanges</a> (float &amp;min_range, float &amp;max_range) const</td></tr>
<tr class="memdesc:a83b475eb983cd9edaea5d97c6d098a7c inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the minimum and maximum range in the image <br /></td></tr>
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PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a37582520baf6b317bbb81e85c95cc602">change3dPointsToLocalCoordinateFrame</a> ()</td></tr>
<tr class="memdesc:a37582520baf6b317bbb81e85c95cc602 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame <br /></td></tr>
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<tr class="memitem:a225cab091b80ff23a3c7b0d7291dead2 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a225cab091b80ff23a3c7b0d7291dead2">getInterpolatedSurfaceProjection</a> (const Eigen::Affine3f &amp;pose, int pixel_size, float world_size) const</td></tr>
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PCL_EXPORTS float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#accadf69890d534cfcb0f9d65c60feaac">getInterpolatedSurfaceProjection</a> (const Eigen::Vector3f &amp;point, int pixel_size, float world_size) const</td></tr>
<tr class="memdesc:accadf69890d534cfcb0f9d65c60feaac inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above, but using the local coordinate frame defined by point and the viewing direction <br /></td></tr>
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<tr class="memitem:a6646c58459dc6780f114039d296d88d4 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a6646c58459dc6780f114039d296d88d4"></a>
Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4">getTransformationToViewerCoordinateFrame</a> (const Eigen::Vector3f &amp;point) const</td></tr>
<tr class="memdesc:a6646c58459dc6780f114039d296d88d4 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a4f79a45cb9beea2cca3a6f17a16d44b7">getTransformationToViewerCoordinateFrame</a> (const Eigen::Vector3f &amp;point, Eigen::Affine3f &amp;transformation) const</td></tr>
<tr class="memdesc:a4f79a45cb9beea2cca3a6f17a16d44b7 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above, using a reference for the retrurn value <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ab38c579faf678914119d4190b0068ab6">getRotationToViewerCoordinateFrame</a> (const Eigen::Vector3f &amp;point, Eigen::Affine3f &amp;transformation) const</td></tr>
<tr class="memdesc:ab38c579faf678914119d4190b0068ab6 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above, but only returning the rotation <br /></td></tr>
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<tr class="memitem:a0ee070d08d3e3688e24f8ebffc9b6436 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a0ee070d08d3e3688e24f8ebffc9b6436">getNormalBasedUprightTransformation</a> (const Eigen::Vector3f &amp;point, float max_dist, Eigen::Affine3f &amp;transformation) const</td></tr>
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<tr class="memitem:a03e02f341db8f43860b2cb83824a2123 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a03e02f341db8f43860b2cb83824a2123">getIntegralImage</a> (float *&amp;integral_image, int *&amp;valid_points_num_image) const</td></tr>
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<tr class="memitem:a1037c5597389ad0f981c91f820b392a9 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a1037c5597389ad0f981c91f820b392a9">getBlurredImageUsingIntegralImage</a> (int blur_radius, float *integral_image, int *valid_points_num_image, <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;range_image) const</td></tr>
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<tr class="memitem:a29b238256cffb27a526bf89e857e5602 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">virtual PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a29b238256cffb27a526bf89e857e5602">getBlurredImage</a> (int blur_radius, <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;range_image) const</td></tr>
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<tr class="memitem:a9270139a4ebc5b01e91262bba72c1cf5 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a9270139a4ebc5b01e91262bba72c1cf5">getEuclideanDistanceSquared</a> (int x1, int y1, int x2, int y2) const</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a4d702bb8f446bb382040e5872b6dbfb1">getAverageEuclideanDistance</a> (int x, int y, int offset_x, int offset_y, int max_steps) const</td></tr>
<tr class="memdesc:a4d702bb8f446bb382040e5872b6dbfb1 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Doing the above for some steps in the given direction and averaging <br /></td></tr>
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PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a42e94ffae804608d0a7d2762cddd6fd2">getRangeImageWithSmoothedSurface</a> (int radius, <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;smoothed_range_image) const</td></tr>
<tr class="memdesc:a42e94ffae804608d0a7d2762cddd6fd2 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Project all points on the local plane approximation, thereby smoothing the surface of the scan <br /></td></tr>
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<tr class="memitem:a397d6c6b38906e98ab89b817c4191247 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a397d6c6b38906e98ab89b817c4191247">get1dPointAverage</a> (int x, int y, int delta_x, int delta_y, int no_of_points, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;average_point) const</td></tr>
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<tr class="memitem:addd0bcec3d51c70ac205bbfc75dd8c18 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#addd0bcec3d51c70ac205bbfc75dd8c18">getOverlap</a> (const <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;other_range_image, const Eigen::Affine3f &amp;relative_transformation, int search_radius, float max_distance, int pixel_step=1) const</td></tr>
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<tr class="memitem:ad37bc4a8aab3d63ee7c9ef9428239f00 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ad37bc4a8aab3d63ee7c9ef9428239f00">getViewingDirection</a> (int x, int y, Eigen::Vector3f &amp;viewing_direction) const</td></tr>
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<tr class="memitem:a32dfa3c681a50aebc74ae6830767a831 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a32dfa3c681a50aebc74ae6830767a831">getViewingDirection</a> (const Eigen::Vector3f &amp;point, Eigen::Vector3f &amp;viewing_direction) const</td></tr>
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<tr class="memitem:a454c9018fc001c85e9d8df6900ceb0f6 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">virtual PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a454c9018fc001c85e9d8df6900ceb0f6">copyTo</a> (<a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;other) const</td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_point_cloud')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointWithRange &gt;</a></td></tr>
<tr class="memitem:a06d2d868269c767930f24ac273ed9e05 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a06d2d868269c767930f24ac273ed9e05"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a06d2d868269c767930f24ac273ed9e05">PointCloud</a> ()</td></tr>
<tr class="memdesc:a06d2d868269c767930f24ac273ed9e05 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor. Sets <a class="el" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> to true, <a class="el" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> and <a class="el" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> to 0, and the <a class="el" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> and <a class="el" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> to identity. <br /></td></tr>
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<tr class="memitem:ac32b534164db32cebec965ed5507e490 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ac32b534164db32cebec965ed5507e490">PointCloud</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &amp;pc)</td></tr>
<tr class="memdesc:ac32b534164db32cebec965ed5507e490 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor (needed by compilers such as Intel C++)  <a href="classpcl_1_1_point_cloud.html#ac32b534164db32cebec965ed5507e490">更多...</a><br /></td></tr>
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<tr class="memitem:a4f4e3cd77252d0256e96de21d1f0219d inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a4f4e3cd77252d0256e96de21d1f0219d">PointCloud</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &amp;pc)</td></tr>
<tr class="memdesc:a4f4e3cd77252d0256e96de21d1f0219d inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor (needed by compilers such as Intel C++)  <a href="classpcl_1_1_point_cloud.html#a4f4e3cd77252d0256e96de21d1f0219d">更多...</a><br /></td></tr>
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<tr class="memitem:a2a482d4048581443749a04e3aabb3691 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2a482d4048581443749a04e3aabb3691">PointCloud</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &amp;pc, const std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a2a482d4048581443749a04e3aabb3691 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor from point cloud subset  <a href="classpcl_1_1_point_cloud.html#a2a482d4048581443749a04e3aabb3691">更多...</a><br /></td></tr>
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<tr class="memitem:ab5892ddcac7bafdcf659551846ac6aae inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">PointCloud</a> (uint32_t width_, uint32_t height_, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;value_=<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>())</td></tr>
<tr class="memdesc:ab5892ddcac7bafdcf659551846ac6aae inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Allocate constructor from point cloud subset  <a href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">更多...</a><br /></td></tr>
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<tr class="memitem:aa614daa65a6a30956886ccd24e5fa4d4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="aa614daa65a6a30956886ccd24e5fa4d4"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#aa614daa65a6a30956886ccd24e5fa4d4">~PointCloud</a> ()</td></tr>
<tr class="memdesc:aa614daa65a6a30956886ccd24e5fa4d4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:aa614daa65a6a30956886ccd24e5fa4d4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a335a1cf1c305cc563f9ebeb2a61f994b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a335a1cf1c305cc563f9ebeb2a61f994b">operator+=</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;rhs)</td></tr>
<tr class="memdesc:a335a1cf1c305cc563f9ebeb2a61f994b inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point cloud to the current cloud.  <a href="classpcl_1_1_point_cloud.html#a335a1cf1c305cc563f9ebeb2a61f994b">更多...</a><br /></td></tr>
<tr class="separator:a335a1cf1c305cc563f9ebeb2a61f994b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5959e2829b27d093904c222257f1b1c inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ac5959e2829b27d093904c222257f1b1c">operator+</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;rhs)</td></tr>
<tr class="memdesc:ac5959e2829b27d093904c222257f1b1c inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point cloud to another cloud.  <a href="classpcl_1_1_point_cloud.html#ac5959e2829b27d093904c222257f1b1c">更多...</a><br /></td></tr>
<tr class="separator:ac5959e2829b27d093904c222257f1b1c inherit pub_methods_classpcl_1_1_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1155fe4ba5cdc7e83cb72159a4ea02dc inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">at</a> (int column, int row) const</td></tr>
<tr class="memdesc:a1155fe4ba5cdc7e83cb72159a4ea02dc inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">更多...</a><br /></td></tr>
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<tr class="memitem:a930c2d1f3d8682ca228873ce1c5cc7c4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">at</a> (int column, int row)</td></tr>
<tr class="memdesc:a930c2d1f3d8682ca228873ce1c5cc7c4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">更多...</a><br /></td></tr>
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<tr class="memitem:a075e6b2927f4f05584acffb14fb7ca0b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a075e6b2927f4f05584acffb14fb7ca0b"></a>
const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>at</b> (size_t n) const</td></tr>
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<tr class="memitem:a939f75f413b130342a5136021e1627e2 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a939f75f413b130342a5136021e1627e2"></a>
<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>at</b> (size_t n)</td></tr>
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<tr class="memitem:a91451e94e3c4d3bbe1e0a499de5163f4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a91451e94e3c4d3bbe1e0a499de5163f4">operator()</a> (size_t column, size_t row) const</td></tr>
<tr class="memdesc:a91451e94e3c4d3bbe1e0a499de5163f4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a91451e94e3c4d3bbe1e0a499de5163f4">更多...</a><br /></td></tr>
<tr class="separator:a91451e94e3c4d3bbe1e0a499de5163f4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72a535e193c4669ece027971e7fa21a2 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a72a535e193c4669ece027971e7fa21a2">operator()</a> (size_t column, size_t row)</td></tr>
<tr class="memdesc:a72a535e193c4669ece027971e7fa21a2 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a72a535e193c4669ece027971e7fa21a2">更多...</a><br /></td></tr>
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<tr class="memitem:a914dbcef25abdb46f32991ac112002e7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> () const</td></tr>
<tr class="memdesc:a914dbcef25abdb46f32991ac112002e7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return whether a dataset is organized (e.g., arranged in a structured grid).  <a href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">更多...</a><br /></td></tr>
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<tr class="memitem:ab9486898ac363e8206829da7c01ea62d inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">getMatrixXfMap</a> (int dim, int stride, int offset)</td></tr>
<tr class="memdesc:ab9486898ac363e8206829da7c01ea62d inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. <a class="anchor" id="getMatrixXfMap"></a> <a href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">更多...</a><br /></td></tr>
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<tr class="memitem:a0fb96c26772eca605280d622efe35995 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">getMatrixXfMap</a> (int dim, int stride, int offset) const</td></tr>
<tr class="memdesc:a0fb96c26772eca605280d622efe35995 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. <a class="anchor" id="getMatrixXfMap"></a> <a href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">更多...</a><br /></td></tr>
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<tr class="memitem:a194a19cac54494383e3706a72f4240fb inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">getMatrixXfMap</a> ()</td></tr>
<tr class="memdesc:a194a19cac54494383e3706a72f4240fb inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.  <a href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">更多...</a><br /></td></tr>
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<tr class="memitem:ada3e021bcb3f4d8d62ea3f00324fc126 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">getMatrixXfMap</a> () const</td></tr>
<tr class="memdesc:ada3e021bcb3f4d8d62ea3f00324fc126 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.  <a href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">更多...</a><br /></td></tr>
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iterator&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> ()</td></tr>
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const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> () const</td></tr>
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iterator&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> ()</td></tr>
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<tr class="memitem:ae3ad7a59d8e2f3ded78c17dede26c6b9 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="ae3ad7a59d8e2f3ded78c17dede26c6b9"></a>
const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> () const</td></tr>
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<tr class="memitem:acc80ec2ec9dc2d3e940850f0c757a32b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="acc80ec2ec9dc2d3e940850f0c757a32b"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><b>size</b> () const</td></tr>
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<tr class="memitem:ab58ad20b233b05da011a20718e6509c4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="ab58ad20b233b05da011a20718e6509c4"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>reserve</b> (size_t n)</td></tr>
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<tr class="memitem:a1626420d44e28b5ab22bdc2f1fc6c7ff inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a1626420d44e28b5ab22bdc2f1fc6c7ff"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>empty</b> () const</td></tr>
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<tr class="memitem:a2d60b6927b31ef89cd3b97e8173ea4aa inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (size_t n)</td></tr>
<tr class="memdesc:a2d60b6927b31ef89cd3b97e8173ea4aa inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resize the cloud  <a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">更多...</a><br /></td></tr>
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const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator[]</b> (size_t n) const</td></tr>
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<tr class="memitem:a2d298930acd2ae539f47f7c3d9bdfb30 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a2d298930acd2ae539f47f7c3d9bdfb30"></a>
<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator[]</b> (size_t n)</td></tr>
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<tr class="memitem:a4eb4170da773993d46db2e760d74736d inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a4eb4170da773993d46db2e760d74736d"></a>
const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>front</b> () const</td></tr>
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<tr class="memitem:a157e45c8c8bb7b028b315e3a1548cc85 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a157e45c8c8bb7b028b315e3a1548cc85"></a>
<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>front</b> ()</td></tr>
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const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>back</b> () const</td></tr>
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<tr class="memitem:a21a3d18a47ea5ef7ea379fac42f7575a inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a21a3d18a47ea5ef7ea379fac42f7575a"></a>
<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>back</b> ()</td></tr>
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<tr class="memitem:a0b4d7abee110e47d90635eb042488bb4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;pt)</td></tr>
<tr class="memdesc:a0b4d7abee110e47d90635eb042488bb4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud, at the end of the container.  <a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">更多...</a><br /></td></tr>
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<tr class="memitem:a75387c07a2d24ee943eb71ab1c00e4a7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">insert</a> (iterator position, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;pt)</td></tr>
<tr class="memdesc:a75387c07a2d24ee943eb71ab1c00e4a7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud, given an iterator.  <a href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">更多...</a><br /></td></tr>
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<tr class="memitem:a70ff499c4a3f9398bc3d1629b066db30 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">insert</a> (iterator position, size_t n, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;pt)</td></tr>
<tr class="memdesc:a70ff499c4a3f9398bc3d1629b066db30 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud N times, given an iterator.  <a href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">更多...</a><br /></td></tr>
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<tr class="memitem:a3cccb494b2875101b528a8919c738f9b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">insert</a> (iterator position, InputIterator first, InputIterator last)</td></tr>
<tr class="memdesc:a3cccb494b2875101b528a8919c738f9b inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new range of points in the cloud, at a certain position.  <a href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">更多...</a><br /></td></tr>
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<tr class="memitem:a06463926e7cbe52ed3c024c7bc7565d3 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">erase</a> (iterator position)</td></tr>
<tr class="memdesc:a06463926e7cbe52ed3c024c7bc7565d3 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Erase a point in the cloud.  <a href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">更多...</a><br /></td></tr>
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<tr class="memitem:a2901a922dac074254160e1e11912d2c5 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">erase</a> (iterator first, iterator last)</td></tr>
<tr class="memdesc:a2901a922dac074254160e1e11912d2c5 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Erase a set of points given by a (first, last) iterator pair  <a href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">更多...</a><br /></td></tr>
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<tr class="memitem:ab4a0b63e9c8442286b08336f8385a9ea inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">swap</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &amp;rhs)</td></tr>
<tr class="memdesc:ab4a0b63e9c8442286b08336f8385a9ea inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Swap a point cloud with another cloud.  <a href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">更多...</a><br /></td></tr>
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<tr class="memitem:a963c0da7320055c79e5af0df4f6ad224 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a963c0da7320055c79e5af0df4f6ad224"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ()</td></tr>
<tr class="memdesc:a963c0da7320055c79e5af0df4f6ad224 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Removes all points in a cloud and sets the width and height to 0. <br /></td></tr>
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<tr class="memitem:afebbbb9c522a94cf245dd3968b50ed5e inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">makeShared</a> () const</td></tr>
<tr class="memdesc:afebbbb9c522a94cf245dd3968b50ed5e inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds. The changes of the returned cloud are not mirrored back to this one.  <a href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pub_static_methods_classpcl_1_1_range_image"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpcl_1_1_range_image')"><img src="closed.png" alt="-"/>&#160;静态 Public 成员函数 继承自 <a class="el" href="classpcl_1_1_range_image.html">pcl::RangeImage</a></td></tr>
<tr class="memitem:ac504743608967dcd142dc4249b82ea5a inherit pub_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ac504743608967dcd142dc4249b82ea5a">getMaxAngleSize</a> (const Eigen::Affine3f &amp;viewer_pose, const Eigen::Vector3f &amp;center, float radius)</td></tr>
<tr class="memdesc:ac504743608967dcd142dc4249b82ea5a inherit pub_static_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the size of a certain area when seen from the given pose  <a href="classpcl_1_1_range_image.html#ac504743608967dcd142dc4249b82ea5a">更多...</a><br /></td></tr>
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<tr class="memitem:a2e3b75077a96415e431b90f53a249773 inherit pub_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">getEigenVector3f</a> (const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point)</td></tr>
<tr class="memdesc:a2e3b75077a96415e431b90f53a249773 inherit pub_static_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get Eigen::Vector3f from <a class="el" href="structpcl_1_1_point_with_range.html" title="A point structure representing Euclidean xyz coordinates, padded with an extra range float.">PointWithRange</a>  <a href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">更多...</a><br /></td></tr>
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<tr class="memitem:af5c0908bfbe060fdb517728fe56b2c55 inherit pub_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">getCoordinateFrameTransformation</a> (RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &amp;transformation)</td></tr>
<tr class="memdesc:af5c0908bfbe060fdb517728fe56b2c55 inherit pub_static_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the transformation that transforms the given coordinate frame into CAMERA_FRAME  <a href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">更多...</a><br /></td></tr>
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<tr class="memitem:a49c425d518d92def18300cd029ae1855 inherit pub_static_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudTypeWithViewpoints &gt; </td></tr>
<tr class="memitem:a49c425d518d92def18300cd029ae1855 inherit pub_static_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">static Eigen::Vector3f&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a49c425d518d92def18300cd029ae1855">getAverageViewPoint</a> (const PointCloudTypeWithViewpoints &amp;point_cloud)</td></tr>
<tr class="memdesc:a49c425d518d92def18300cd029ae1855 inherit pub_static_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x, vp_y, vp_z  <a href="classpcl_1_1_range_image.html#a49c425d518d92def18300cd029ae1855">更多...</a><br /></td></tr>
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<tr class="memitem:a75e39ee2587a56fbdda651c27cc7898e inherit pub_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a75e39ee2587a56fbdda651c27cc7898e">extractFarRanges</a> (const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;point_cloud_data, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_viewpoint.html">PointWithViewpoint</a> &gt; &amp;far_ranges)</td></tr>
<tr class="memdesc:a75e39ee2587a56fbdda651c27cc7898e inherit pub_static_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the provided data includes far ranges and add them to far_ranges  <a href="classpcl_1_1_range_image.html#a75e39ee2587a56fbdda651c27cc7898e">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_attribs_classpcl_1_1_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpcl_1_1_point_cloud')"><img src="closed.png" alt="-"/>&#160;Public 属性 继承自 <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointWithRange &gt;</a></td></tr>
<tr class="memitem:a82e0be055a617e5e74102ed62712b352 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a82e0be055a617e5e74102ed62712b352"></a>
<a class="el" href="structpcl_1_1_p_c_l_header.html">pcl::PCLHeader</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a></td></tr>
<tr class="memdesc:a82e0be055a617e5e74102ed62712b352 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud header. It contains information about the acquisition time. <br /></td></tr>
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<tr class="memitem:af16a62638198313b9c093127c492c884 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="af16a62638198313b9c093127c492c884"></a>
std::vector&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a></td></tr>
<tr class="memdesc:af16a62638198313b9c093127c492c884 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point data. <br /></td></tr>
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<tr class="memitem:a2185a6453f8ad905d7bdf7b45754a160 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a2185a6453f8ad905d7bdf7b45754a160"></a>
uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a></td></tr>
<tr class="memdesc:a2185a6453f8ad905d7bdf7b45754a160 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud width (if organized as an image-structure). <br /></td></tr>
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<tr class="memitem:a4f34b45220c57f96607513ffad0d9582 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a4f34b45220c57f96607513ffad0d9582"></a>
uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a></td></tr>
<tr class="memdesc:a4f34b45220c57f96607513ffad0d9582 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud height (if organized as an image-structure). <br /></td></tr>
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<tr class="memitem:a3ca88d8ebf6f4f35acbc31cdfb38aa94 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a3ca88d8ebf6f4f35acbc31cdfb38aa94"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a></td></tr>
<tr class="memdesc:a3ca88d8ebf6f4f35acbc31cdfb38aa94 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if no points are invalid (e.g., have NaN or Inf values). <br /></td></tr>
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Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a></td></tr>
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Eigen::Quaternionf&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a></td></tr>
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<tr class="memitem:a34fe4f6701548e2514ae45099309cac4 inherit pub_static_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a34fe4f6701548e2514ae45099309cac4">max_no_of_threads</a></td></tr>
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<tr class="memitem:a1bd552e2971d69843fdec72413823f57 inherit pub_static_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a1bd552e2971d69843fdec72413823f57">debug</a></td></tr>
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<tr class="inherit_header pro_static_methods_classpcl_1_1_range_image"><td colspan="2" onclick="javascript:toggleInherit('pro_static_methods_classpcl_1_1_range_image')"><img src="closed.png" alt="-"/>&#160;静态 Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_range_image.html">pcl::RangeImage</a></td></tr>
<tr class="memitem:ae74c34594e1417fb702d92ff51f2b495 inherit pro_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ae74c34594e1417fb702d92ff51f2b495">createLookupTables</a> ()</td></tr>
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<tr class="memitem:a6cb20514cdc04674448a5e5c6cb373bc inherit pro_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">asinLookUp</a> (float value)</td></tr>
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<tr class="memitem:a17835570c515cca3ba1ecd0f132bf013 inherit pro_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">atan2LookUp</a> (float y, float x)</td></tr>
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<tr class="memitem:a29ab1f1088b1c8d111dfe02139882ded inherit pro_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a29ab1f1088b1c8d111dfe02139882ded">cosLookUp</a> (float value)</td></tr>
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<tr class="memitem:ada8177479f0e95999a66294db4c0c3eb inherit pro_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>image_offset_x_</b></td></tr>
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<tr class="memitem:a51bf019906a3256038561354d6b95885 inherit pro_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">unobserved_point</a></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_point_cloud')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointWithRange &gt;</a></td></tr>
<tr class="memitem:a306d8c279a6fb68c26a81d69dcee1f97 inherit pro_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a306d8c279a6fb68c26a81d69dcee1f97"></a>
boost::shared_ptr&lt; MsgFieldMap &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>mapping_</b></td></tr>
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<tr class="memitem:a9429abb4524c74600122006d213242ee inherit pro_static_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a9429abb4524c74600122006d213242ee"></a>
static const int&#160;</td><td class="memItemRight" valign="bottom"><b>lookup_table_size</b></td></tr>
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static std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>asin_lookup_table</b></td></tr>
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static std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>atan_lookup_table</b></td></tr>
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static std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>cos_lookup_table</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><b><a class="el" href="classpcl_1_1_range_image_spherical.html" title="RangeImageSpherical is derived from the original range image and uses a slightly different spherical ...">RangeImageSpherical</a></b> is derived from the original range image and uses a slightly different spherical projection. In the original range image, the image will appear more and more "scaled down" along the y axis, the further away from the mean line of the image a point is. This class removes this scaling, which makes it especially suitable for spinning LIDAR sensors that capure a 360° view, since a rotation of the sensor will now simply correspond to a shift of the range image. (This class is similar to <a class="el" href="classpcl_1_1_range_image_planar.html" title="RangeImagePlanar is derived from the original range image and differs from it because it&#39;s not a sphe...">RangeImagePlanar</a>, but changes less of the behaviour of the base class.) </p>
<dl class="section author"><dt>作者</dt><dd>Andreas Muetzel </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a32a31d2c4fa79e912291c10b45a3709a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a32a31d2c4fa79e912291c10b45a3709a">&#9670;&nbsp;</a></span>RangeImageSpherical()</h2>

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<p>Constructor </p>
<div class="fragment"><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#afc4656463f4b4912ef46c1e15a9fb33a">&#9670;&nbsp;</a></span>~RangeImageSpherical()</h2>

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<p>Destructor </p>
<div class="fragment"><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;{}</div>
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<h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#abbb77866cf4ee5d2a619f4f8cc62cc9b">&#9670;&nbsp;</a></span>calculate3DPoint() <span class="overload">[1/5]</span></h2>

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<p>Calculate the 3D point according to the given image point and the range value at the closest pixel </p>
<div class="fragment"><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;{</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  <span class="keyword">const</span> PointWithRange&amp; point_in_image = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (image_x, image_y);</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (image_x, image_y, point_in_image.range, point);</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a52164736793c99cc9fc48dedee615e45"><div class="ttname"><a href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">pcl::RangeImage::getPoint</a></div><div class="ttdeci">const PointWithRange &amp; getPoint(int image_x, int image_y) const</div><div class="ttdoc">Return the 3D point with range at the given image position</div><div class="ttdef"><b>Definition:</b> range_image.hpp:479</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_a1acc16b4b5fb7071175bada62a5b75d0"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#a1acc16b4b5fb7071175bada62a5b75d0">pcl::RangeImageSpherical::calculate3DPoint</a></div><div class="ttdeci">void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:585</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa9e97e7487ac21a77075b5f8b64ca205">&#9670;&nbsp;</a></span>calculate3DPoint() <span class="overload">[2/5]</span></h2>

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<p>Calculate the 3D point according to the given image point and range </p>
<div class="fragment"><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;{</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  <span class="keywordtype">float</span> angle_x, angle_y;</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  <span class="comment">//std::cout &lt;&lt; image_x&lt;&lt;&quot;,&quot;&lt;&lt;image_y&lt;&lt;&quot;,&quot;&lt;&lt;range;</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a8a953ca67cee7446f2a854d39c6188c7">getAnglesFromImagePoint</a> (image_x, image_y, angle_x, angle_y);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  </div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  <span class="keywordtype">float</span> cosY = cosf (angle_y);</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  point = Eigen::Vector3f (range * sinf (angle_x) * cosY, range * sinf (angle_y), range * cosf (angle_x)*cosY);</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  point = <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> * point;</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;}</div>
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<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_a8a953ca67cee7446f2a854d39c6188c7"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#a8a953ca67cee7446f2a854d39c6188c7">pcl::RangeImageSpherical::getAnglesFromImagePoint</a></div><div class="ttdeci">void getAnglesFromImagePoint(float image_x, float image_y, float &amp;angle_x, float &amp;angle_y) const</div><div class="ttdef"><b>Definition:</b> range_image_spherical.hpp:66</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a43849e7a155b8af09e0355fe77e65266">&#9670;&nbsp;</a></span>calculate3DPoint() <span class="overload">[3/5]</span></h2>

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          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>image_x</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>image_y</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>range</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>point</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Calculate the 3D point according to the given image point and range </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">image_x</td><td>the x image position </td></tr>
    <tr><td class="paramname">image_y</td><td>the y image position </td></tr>
    <tr><td class="paramname">range</td><td>the range </td></tr>
    <tr><td class="paramname">point</td><td>the resulting 3D point </td></tr>
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  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>Implementation according to planar range images (compared to spherical as in the original) </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1_range_image.html#aa9e97e7487ac21a77075b5f8b64ca205">pcl::RangeImage</a> .</p>
<div class="fragment"><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">float</span> angle_x, angle_y;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a8a953ca67cee7446f2a854d39c6188c7">getAnglesFromImagePoint</a> (image_x, image_y, angle_x, angle_y);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">float</span> cosY = cosf (angle_y);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  point = Eigen::Vector3f (range * sinf (angle_x) * cosY, range * sinf (angle_y), range * cosf (angle_x)*cosY);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  point = <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> * point;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1acc16b4b5fb7071175bada62a5b75d0">&#9670;&nbsp;</a></span>calculate3DPoint() <span class="overload">[4/5]</span></h2>

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<p>Calculate the 3D point according to the given image point and range </p>
<div class="fragment"><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;                                                                                                    {</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;  point.range = range;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  Eigen::Vector3f tmp_point;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (image_x, image_y, range, tmp_point);</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  point.x=tmp_point[0];  point.y=tmp_point[1];  point.z=tmp_point[2];</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0f969bd0149b7848f0f26b44bb88035c">&#9670;&nbsp;</a></span>calculate3DPoint() <span class="overload">[5/5]</span></h2>

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<p>Calculate the 3D point according to the given image point and the range value at the closest pixel </p>
<div class="fragment"><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;{</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="keyword">const</span> PointWithRange&amp; point_in_image = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (image_x, image_y);</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (image_x, image_y, point_in_image.range, point);</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8a953ca67cee7446f2a854d39c6188c7">&#9670;&nbsp;</a></span>getAnglesFromImagePoint()</h2>

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          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>image_x</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>image_y</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>angle_x</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>angle_y</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>Get the angles corresponding to the given image point </p>
<div class="fragment"><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  angle_y = (image_y+<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a>))*<a class="code" href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">angular_resolution_y_</a> - 0.5f*<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  angle_x = ((image_x+ <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (image_offset_x_))*<a class="code" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">angular_resolution_x_</a> - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI));</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1518af9f1c9eb6ac259be92824842e23"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">pcl::RangeImage::image_offset_y_</a></div><div class="ttdeci">int image_offset_y_</div><div class="ttdef"><b>Definition:</b> range_image.h:778</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a9471a00ecde65c754227e155cc234942"><div class="ttname"><a href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">pcl::RangeImage::angular_resolution_y_</a></div><div class="ttdeci">float angular_resolution_y_</div><div class="ttdef"><b>Definition:</b> range_image.h:773</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_abdbfb655cdfeb5d8ace1ac841a52a524"><div class="ttname"><a href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">pcl::RangeImage::angular_resolution_x_</a></div><div class="ttdeci">float angular_resolution_x_</div><div class="ttdef"><b>Definition:</b> range_image.h:772</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8b9b678a491ddefc1109494157e0aa83">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[1/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;{</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <span class="keywordtype">float</span> range;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x, image_y, range);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;}</div>
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<p>Get imagePoint from 3D point in world coordinates </p>
<div class="fragment"><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;{</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  Eigen::Vector3f transformedPoint = <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a> * point;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  range = transformedPoint.norm ();</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  <span class="keywordtype">float</span> angle_x = <a class="code" href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">atan2LookUp</a> (transformedPoint[0], transformedPoint[2]),</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        angle_y = <a class="code" href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">asinLookUp</a> (transformedPoint[1]/range);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#aa1e4c832e4c11c25a57b0e3d8aae2a5e">getImagePointFromAngles</a> (angle_x, angle_y, image_x, image_y);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot; (&quot;&lt;&lt;point[0]&lt;&lt;&quot;,&quot;&lt;&lt;point[1]&lt;&lt;&quot;,&quot;&lt;&lt;point[2]&lt;&lt;&quot;)&quot;</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;            <span class="comment">//&lt;&lt; &quot; =&gt; (&quot;&lt;&lt;transformedPoint[0]&lt;&lt;&quot;,&quot;&lt;&lt;transformedPoint[1]&lt;&lt;&quot;,&quot;&lt;&lt;transformedPoint[2]&lt;&lt;&quot;)&quot;</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;            <span class="comment">//&lt;&lt; &quot; =&gt; &quot;&lt;&lt;angle_x&lt;&lt;&quot;,&quot;&lt;&lt;angle_y&lt;&lt;&quot; =&gt; &quot;&lt;&lt;image_x&lt;&lt;&quot;,&quot;&lt;&lt;image_y&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a17835570c515cca3ba1ecd0f132bf013"><div class="ttname"><a href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">pcl::RangeImage::atan2LookUp</a></div><div class="ttdeci">static float atan2LookUp(float y, float x)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6cb20514cdc04674448a5e5c6cb373bc"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">pcl::RangeImage::asinLookUp</a></div><div class="ttdeci">static float asinLookUp(float value)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ada8177479f0e95999a66294db4c0c3eb"><div class="ttname"><a href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">pcl::RangeImage::to_range_image_system_</a></div><div class="ttdeci">Eigen::Affine3f to_range_image_system_</div><div class="ttdef"><b>Definition:</b> range_image.h:770</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_aa1e4c832e4c11c25a57b0e3d8aae2a5e"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#aa1e4c832e4c11c25a57b0e3d8aae2a5e">pcl::RangeImageSpherical::getImagePointFromAngles</a></div><div class="ttdeci">void getImagePointFromAngles(float angle_x, float angle_y, float &amp;image_x, float &amp;image_y) const</div><div class="ttdef"><b>Definition:</b> range_image_spherical.hpp:73</div></div>
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          <td>(</td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>point</em>, </td>
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          <td class="paramtype">float &amp;&#160;</td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>range</em>&#160;</td>
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          <td>)</td>
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<p>Calculate the image point and range from the given 3D point </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">point</td><td>the resulting 3D point </td></tr>
    <tr><td class="paramname">image_x</td><td>the resulting x image position </td></tr>
    <tr><td class="paramname">image_y</td><td>the resulting y image position </td></tr>
    <tr><td class="paramname">range</td><td>the resulting range </td></tr>
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<dl class="section note"><dt>注解</dt><dd>Implementation according to planar range images (compared to spherical as in the original) </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">pcl::RangeImage</a> .</p>
<div class="fragment"><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  Eigen::Vector3f transformedPoint = <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a> * point;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  range = transformedPoint.norm ();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">float</span> angle_x = <a class="code" href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">atan2LookUp</a> (transformedPoint[0], transformedPoint[2]),</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        angle_y = <a class="code" href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">asinLookUp</a> (transformedPoint[1]/range);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#aa1e4c832e4c11c25a57b0e3d8aae2a5e">getImagePointFromAngles</a> (angle_x, angle_y, image_x, image_y);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aac7ef90b9c78876a492fd16701d6578e">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[4/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;{</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="keywordtype">float</span> image_x_float, image_y_float;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x_float, image_y_float);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x_float, image_y_float, image_x, image_y);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a86174b766aa77898e0d49ef11f4613b1"><div class="ttname"><a href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">pcl::RangeImage::real2DToInt2D</a></div><div class="ttdeci">void real2DToInt2D(float x, float y, int &amp;xInt, int &amp;yInt) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:433</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a9295b795c8f52a90eb3af983612fea8a">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[5/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;                                                                                                     {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keywordtype">float</span> image_x_float, image_y_float;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x_float, image_y_float, range);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x_float, image_y_float, image_x, image_y);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8123412373a87d5030ee5f8a9b3ba3e4">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[6/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;{</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keywordtype">float</span> range;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (x, y, z, image_x, image_y, range);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a09c81c4b4ffd68fc5742167d15f6af87">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[7/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;{</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  Eigen::Vector3f point (x, y, z);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x, image_y, range);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2ba0bfce9adcf8161feec7c59f75082c">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[8/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;{</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  <span class="keywordtype">float</span> image_x_float, image_y_float;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  <a class="code" href="classpcl_1_1_range_image_spherical.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (x, y, z, image_x_float, image_y_float);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x_float, image_y_float, image_x, image_y);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa1e4c832e4c11c25a57b0e3d8aae2a5e">&#9670;&nbsp;</a></span>getImagePointFromAngles()</h2>

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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>angle_x</em>, </td>
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          <td class="paramtype">float&#160;</td>
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          <td class="paramname"><em>image_x</em>, </td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>image_y</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>Get the image point corresponding to the given ranges </p>
<div class="fragment"><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;{</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  image_x = (angle_x + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI))*<a class="code" href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">angular_resolution_x_reciprocal_</a> - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (image_offset_x_);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  image_y = (angle_y + 0.5f*<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI))*<a class="code" href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">angular_resolution_y_reciprocal_</a> - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a>);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a843659230146a43690ee4d4fb53fcc92"><div class="ttname"><a href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">pcl::RangeImage::angular_resolution_y_reciprocal_</a></div><div class="ttdeci">float angular_resolution_y_reciprocal_</div><div class="ttdef"><b>Definition:</b> range_image.h:776</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#acb6dc5877e1e91d773392a346778b0bc">&#9670;&nbsp;</a></span>getNew()</h2>

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<p>Return a newly created <a class="el" href="classpcl_1_1_range_image_planar.html" title="RangeImagePlanar is derived from the original range image and differs from it because it&#39;s not a sphe...">RangeImagePlanar</a>. Reimplmentation to return an image of the same type. </p>

<p>重载 <a class="el" href="classpcl_1_1_range_image.html#a7bca09c1eb8be12975c47cb6d6233ca5">pcl::RangeImage</a> .</p>
<div class="fragment"><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;{ <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classpcl_1_1_range_image_spherical.html#a32a31d2c4fa79e912291c10b45a3709a">RangeImageSpherical</a>; }</div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_a32a31d2c4fa79e912291c10b45a3709a"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#a32a31d2c4fa79e912291c10b45a3709a">pcl::RangeImageSpherical::RangeImageSpherical</a></div><div class="ttdeci">PCL_EXPORTS RangeImageSpherical()</div><div class="ttdef"><b>Definition:</b> range_image_spherical.h:61</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>common/include/pcl/range_image/<a class="el" href="range__image__spherical_8h_source.html">range_image_spherical.h</a></li>
<li>common/include/pcl/range_image/impl/<a class="el" href="range__image__spherical_8hpp_source.html">range_image_spherical.hpp</a></li>
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